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EP3260249A4 - Manipulateur et système de manipulateur - Google Patents

Manipulateur et système de manipulateur Download PDF

Info

Publication number
EP3260249A4
EP3260249A4 EP16752159.0A EP16752159A EP3260249A4 EP 3260249 A4 EP3260249 A4 EP 3260249A4 EP 16752159 A EP16752159 A EP 16752159A EP 3260249 A4 EP3260249 A4 EP 3260249A4
Authority
EP
European Patent Office
Prior art keywords
manipulator
manipulator system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16752159.0A
Other languages
German (de)
English (en)
Other versions
EP3260249A1 (fr
Inventor
Masaru Yanagihara
Kosuke Kishi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of EP3260249A1 publication Critical patent/EP3260249A1/fr
Publication of EP3260249A4 publication Critical patent/EP3260249A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
EP16752159.0A 2015-02-19 2016-01-12 Manipulateur et système de manipulateur Withdrawn EP3260249A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015030789 2015-02-19
PCT/JP2016/050675 WO2016132770A1 (fr) 2015-02-19 2016-01-12 Manipulateur et système de manipulateur

Publications (2)

Publication Number Publication Date
EP3260249A1 EP3260249A1 (fr) 2017-12-27
EP3260249A4 true EP3260249A4 (fr) 2018-11-14

Family

ID=56692455

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16752159.0A Withdrawn EP3260249A4 (fr) 2015-02-19 2016-01-12 Manipulateur et système de manipulateur

Country Status (5)

Country Link
US (1) US10213265B2 (fr)
EP (1) EP3260249A4 (fr)
JP (1) JP6113368B2 (fr)
CN (1) CN107000220B9 (fr)
WO (1) WO2016132770A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3560664A4 (fr) * 2016-12-22 2020-09-30 Kubota Corporation Outil d'assistance
US20230131784A1 (en) * 2021-10-22 2023-04-27 Gyrus Acmi, Inc. D/B/A Olympus Surgical Technologies America Endoscopic articulation device
CN115451073B (zh) * 2022-09-14 2025-02-18 杭州唯精医疗机器人有限公司 钢丝锁紧装置、医生控制台及手术机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008046030A2 (fr) * 2006-10-12 2008-04-17 Intuitive Surgical, Inc. Tendeur compact pour la tension d'un câble
US20100082041A1 (en) * 2008-09-30 2010-04-01 Intuitive Surgical, Inc. Passive preload and capstan drive for surgical instruments
EP2599431A1 (fr) * 2011-05-12 2013-06-05 Olympus Medical Systems Corp. Dispositif médical de commande
US20140107665A1 (en) * 2012-02-02 2014-04-17 Transenterix, Inc. Mechanized multi-instrument surgical system

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3578375B2 (ja) * 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
JP2000079586A (ja) * 1998-07-07 2000-03-21 Kajima Corp 重量物のハンドリング機構
DE10214174B4 (de) * 2001-03-30 2008-08-28 Fujinon Corp. Krümmungsbetätigungsvorrichtung für ein Endoskop
JP4758119B2 (ja) * 2005-03-11 2011-08-24 学校法人東海大学 非線形弾性機構及びロボット用関節機構
US20070232858A1 (en) * 2006-03-31 2007-10-04 Boston Scientific Scimed, Inc. Steering system tension control devices
JP2007319954A (ja) * 2006-05-30 2007-12-13 Merry B:Kk 可動軸駆動装置およびロボット装置
US10080482B2 (en) * 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
WO2011059015A1 (fr) * 2009-11-12 2011-05-19 株式会社安川電機 Robot et dispositif de commande de celui-ci
WO2013108486A1 (fr) * 2012-01-16 2013-07-25 オリンパスメディカルシステムズ株式会社 Endoscope
KR102210036B1 (ko) * 2012-11-02 2021-02-02 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 의료 기기를 위한 자가 길항적 구동
JP6116427B2 (ja) * 2013-07-26 2017-04-19 オリンパス株式会社 マニピュレータ及びマニピュレータシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008046030A2 (fr) * 2006-10-12 2008-04-17 Intuitive Surgical, Inc. Tendeur compact pour la tension d'un câble
US20100082041A1 (en) * 2008-09-30 2010-04-01 Intuitive Surgical, Inc. Passive preload and capstan drive for surgical instruments
EP2599431A1 (fr) * 2011-05-12 2013-06-05 Olympus Medical Systems Corp. Dispositif médical de commande
US20140107665A1 (en) * 2012-02-02 2014-04-17 Transenterix, Inc. Mechanized multi-instrument surgical system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2016132770A1 *

Also Published As

Publication number Publication date
EP3260249A1 (fr) 2017-12-27
US20170265955A1 (en) 2017-09-21
CN107000220B9 (zh) 2020-04-17
CN107000220A (zh) 2017-08-01
JP6113368B2 (ja) 2017-04-12
WO2016132770A1 (fr) 2016-08-25
US10213265B2 (en) 2019-02-26
CN107000220B (zh) 2020-01-07
JPWO2016132770A1 (ja) 2017-04-27

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